Work vehicle

Abstract

The present invention is provided to more reliably keep a work vehicle from coming into contact with an obstacle during automated driving. The work vehicle includes an electronic control system for automated driving that automatically drives the vehicle body. The electronic control system includes an obstacle detection module configured to detect presence or absence of an obstacle, and a contact avoidance control unit configured to perform, upon the obstacle detection module detecting an obstacle, contact avoidance control to keep the vehicle body from coming into contact with the obstacle. The obstacle detection module includes a plurality of obstacle searchers that are distributed on the front end portion and the right and left end portions of the vehicle body such that the front side and the right and left lateral sides of the vehicle body are search-target areas.

What is claimed is: 
     
       1. A work vehicle comprising:
 front and rear obstacle detectors configured to detect an approaching obstacle; 
 a contact avoidance controller configured to perform, upon any one of the obstacle detectors detecting an approaching obstacle, contact avoidance control to keep a vehicle body from coming into contact with the obstacle; and 
 a prime mover part that is located in the front portion of the vehicle body, 
 the front and rear obstacle detectors and the contact avoidance controller being included in an electronic control system configured for automated driving that automatically drives the vehicle body, 
 wherein the front and rear obstacle detectors are arranged such that the front obstacle detector is located in an upper portion of the prime mover part and at a center position in a right/left direction of the vehicle body, and the rear obstacle detector is located in an upper portion of a rear portion of the vehicle body, 
 the prime mover includes a hood configured to be pivotally opened and closed, and 
 the obstacle detector is exposed upward from the hood. 
 
     
     
       2. The work vehicle according to  claim 1 , further comprising:
 a cabin that is located in the rear portion of the vehicle body; 
 wherein the rear obstacle detector is located at a center position in the right/left direction of an upper rear end of the cabin. 
 
     
     
       3. The work vehicle according to  claim 1 , wherein
 the prime mover part includes:
 an engine located in a downstream portion, in a cooling direction, of the prime mover part, and 
 a radiator located on an upstream side relative to the engine in the cooling direction, and 
 
 wherein the front obstacle detector is provided on the upstream side relative to the radiator, in the cooling direction of the radiator. 
 
     
     
       4. The work vehicle according to  claim 1 , wherein
 the prime mover part includes:
 a support frame attached to a vehicle body frame in an upright orientation, 
 
 wherein the front obstacle detector is attached to an upper end portion of the support frame, and 
 wherein the hood has an opening through which a detection unit of the front obstacle detector is exposed upward from the hood when the hood is at a closed position. 
 
     
     
       5. The work vehicle according to  claim 4 , further comprising:
 a dustproof member provided between the support frame and the hood at the closed position, the dustproof member being configured to prevent dust from entering the hood through the opening. 
 
     
     
       6. The work vehicle according to  claim 1 , wherein
 each of the obstacle detectors is attached to the vehicle body via vibration-proof rubber element. 
 
     
     
       7. The work vehicle according to  claim 1 , comprising:
 an obstacle detection module configured to detect presence or absence of an obstacle; and 
 a travel regulation controller configured to control travel of the vehicle body upon the obstacle detection module detecting an obstacle, 
 the obstacle detection module and the electronic control system being included in an electronic control system configured for automated driving that automatically drives the vehicle body, 
 wherein the obstacle detection module includes a plurality of obstacle searchers each configured to detect an obstacle that is present in a search-target area, and 
 wherein the obstacle searchers include a pair of right and left first obstacle searchers, each of the first obstacle searchers having the search-target area thereof on a right/left lateral side of a rear end portion of a main part of the vehicle body. 
 
     
     
       8. The work vehicle according to  claim 7 , wherein
 each of the first obstacle searchers is attached to a rear portion of a rear fender associated therewith. 
 
     
     
       9. The work vehicle according to  claim 7 , wherein
 the obstacle searchers include a pair of right and left second obstacle searchers, each of the second obstacle searchers having the search-target area thereof on a right/left lateral side of a center portion in a front/rear direction of the vehicle body. 
 
     
     
       10. The work vehicle according to  claim 9 , wherein
 each of the second obstacle searchers is attached to a front portion of a rear fender associated therewith. 
 
     
     
       11. The work vehicle according to  claim 7 , wherein
 the obstacle detection module includes the obstacle detector configured to detect an obstacle that is present in a detection-target area using a method different from a method performed by the obstacle searchers, and 
 wherein the search-target areas of the obstacle searchers include an area located below the detection-target area of the obstacle detector. 
 
     
     
       12. The work vehicle according to  claim 7 , wherein
 each of the obstacle searchers comprises an ultrasonic sonar device. 
 
     
     
       13. The work vehicle according to  claim 1 , comprising:
 a mounting unit configured to mount the obstacle detector on the vehicle body, 
 wherein the mounting unit includes an adjustment mechanism configured to adjust a mounting angle of the obstacle detector on the vehicle body. 
 
     
     
       14. The work vehicle according to  claim 13 , wherein
 the mounting unit includes:
 a fixing member that is fixed to the vehicle body, and 
 a plurality of support members that are configured to support a plurality of the obstacle detectors having different detection-target areas, respectively, and 
 
 wherein the fixing member has the plurality of the support members mounted thereon such that mounting angles of the support members can be adjusted independently of each other, whereby the adjustment mechanism allows adjustment of the mounting angles of the plurality of the obstacle detectors independently of each other. 
 
     
     
       15. The work vehicle according to  claim 14 , wherein
 one of the plurality of the support members includes a single pivot shaft, and a pair of screw shafts extending parallel to the pivot shaft at positions facing each other across the pivot shaft, 
 each of the remainder of the plurality of the support members and the fixing member has a single circular hole through which the pivot shaft is inserted, and a pair of elongate holes through which the pair of the screw shafts are inserted, and 
 the adjustment mechanism is configured to mount the plurality of the support members on the fixing member such that the mounting angles of the support members can be adjusted independently of each other, by the pivot shaft, the pair of the screw shafts, the circular hole, the pair of the elongate holes, and a pair of nuts screwed onto the pair of the screw shafts. 
 
     
     
       16. The work vehicle according to  claim 13 , wherein
 the mounting unit includes a cover that covers and hides the adjustment mechanism.